version: 66.12
glider: 401
mission: 20
dive: 205
start: 5 1 117 21 23 31
data:
$ID,401
$MISSION,20
$DIVE,205
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,3
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,42
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,115
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,10
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,55
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.144318
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,010517,210444,5710.4961,-16450.3477,4,0.9,14,11.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,1.7
$GPS2,010517,210444,5710.4961,-16450.3477,4,0.9,14,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5705.932,-16432.330
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.083337,-0.356081
$KALMAN_X,-7823.133789,1855.053223,508.751251,60627.218750,208.514252
$KALMAN_Y,15200.321289,494.397491,599.832947,-23852.462891,282.869720
$MHEAD_RNG_PITCHd_Wd,103.9,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.82,-439.9,2316,2173,2366,4094,0.0,0.0,0,19,0.00,0.00,-1.48,0.000,16390,0.000,0.000,2316,2173,2700,2700,4094,0,0,0,0,0,0,25.95,24.47,25.91,10.06,35.54
$GC,21,-1.82,-439.9,2316,2174,2700,4094,0.0,0.0,0,39,5.75,3.47,0.00,0.000,4356,0.206,0.295,1803,3358,2700,2700,4094,0,0,0,0,0,0,25.67,25.50,25.71,10.15,35.39
$GC,67,-1.82,-439.9,1802,3358,2700,4094,10.3,-12.2,3,81,0.00,3.15,0.00,0.000,1030,0.000,0.129,1802,2171,2701,2701,4094,0,0,0,0,0,0,25.75,25.70,25.77,10.14,35.90
$GC,145,-1.82,-439.9,1802,2168,2702,4094,20.6,-13.7,9,163,0.00,3.35,0.00,0.000,516,0.000,0.231,1802,970,2703,2703,4094,0,0,0,0,0,0,26.07,25.65,26.08,10.14,35.11
$GC,238,-1.82,-439.9,1802,970,2705,4094,34.6,-14.5,16,256,0.00,3.05,0.00,0.000,1030,0.000,0.137,1802,2129,2705,2705,4094,0,0,0,0,0,0,25.86,25.79,25.89,10.12,34.72
$GC,320,-1.82,-439.9,1802,2129,2707,4094,45.8,-13.7,22,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2129,2707,2707,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.12,34.68
$GC,404,-1.82,-439.9,1802,2129,2709,4094,57.5,-14.0,28,422,0.00,3.58,0.00,0.000,260,0.000,0.293,1802,3364,2709,2709,4094,0,0,0,0,0,0,26.25,25.78,26.26,10.13,34.72
$STATE,438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,438,begin apogee
$GC,445,-0.50,0.0,1802,2070,2711,4094,62.0,-13.5,30,493,4.57,0.00,26.95,4.531,10244,0.233,0.000,2209,2070,2174,2174,4094,0,0,0,0,0,0,25.91,24.70,23.87,10.12,34.56
$STATE,494,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,496,1.82,439.9,2209,2070,2174,4094,66.4,0.0,33,547,8.02,3.55,26.12,4.467,10500,0.149,0.273,2950,3268,1662,1662,4094,0,0,0,0,0,0,25.27,25.15,23.51,10.01,34.32
$GC,564,1.82,439.9,2949,3268,1661,4094,63.2,7.8,37,579,0.00,3.25,0.03,0.007,9222,0.000,0.119,2949,2078,1661,1661,4094,0,0,0,0,0,0,25.08,25.03,25.10,9.92,33.61
$GC,643,1.82,439.9,2949,2078,1659,4094,52.6,13.4,43,657,0.00,3.45,0.00,0.000,516,0.000,0.253,2950,878,1659,1659,4095,0,0,0,0,0,0,25.59,25.20,25.60,9.91,34.44
$GC,673,1.82,439.9,2949,878,1658,4094,48.4,13.7,45,688,0.00,3.17,0.00,0.000,1030,0.000,0.132,2949,2068,1658,1658,4094,0,0,0,0,0,0,25.41,25.36,25.44,9.91,33.89
$GC,750,1.82,439.9,2949,2068,1656,4094,38.1,13.5,51,765,0.00,3.53,0.00,0.000,260,0.000,0.273,2949,3274,1656,1656,4094,0,0,0,0,0,0,25.80,25.37,25.82,9.91,34.13
$GC,804,1.82,439.9,2949,3274,1654,4094,29.9,15.2,55,818,0.00,3.15,0.00,0.000,1030,0.000,0.122,2950,2093,1654,1654,4094,0,0,0,0,0,0,25.62,25.58,25.65,9.91,34.68
$GC,881,1.82,439.9,2949,2093,1652,4094,19.1,13.5,61,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2093,1651,1651,4094,0,0,0,0,0,0,25.96,25.98,25.98,9.91,34.32
$GC,961,1.82,439.9,2949,2093,1649,4095,8.4,13.2,67,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2093,1649,1649,4094,0,0,0,0,0,0,26.04,26.06,26.06,9.91,34.44
$STATE,1017,end climb,SURFACE_DEPTH_REACHED
$STATE,1017,begin surface coast
$FINISH,0.2,1.025253
$STATE,1044,end surface coast,CONTROL_FINISHED_OK
$STATE,1044,begin surface
$SM_CCo,1141,0.00,0.000,0,0,1648,452.48
$SM_GC,0.99,28.85,0.20,0.00,0.099,0.201,0.000,231,2194,1648,-6.71,-0.82,452.48,0,0,1,0,0,0,25.56,25.86,25.79
$IRIDIUM_FIX,5554.28,-16557.83,010517,201759
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.03
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,8.5
$24V_AH,23.51,20.262
$10V_AH,8.71,12.818
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,47.200,43.750,53.100,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,270.964,60.338,140.852,699.772,26.857,33.419,403.893,0.000,712.057,0.000,5.447,0.000
$DEVICE_MAMPS,233.402,295.477,4531.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.684,93.592,156.932,397.637,688.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7356,73
$CAP_FILE_SIZE,23517,11
$CFSIZE,1024409600,1008435200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010517,214322,5710.541,-16449.436,2,0.7,17,11.1,0.0,0.0,11,5.0